This is a naoqi driver module that bridges with ROS. It publishes several sensor data as well as the robot position.
On the other hand it enables ROS to call parts of the NAOqi API.
The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.
The naoqi_driver module is a NAOqi module that also acts as a ROS node. It needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. Usually, you will start your roscore on your local desktop (or on a robot in case of instaling ROS there).
Once connected, ROS communicates with NAOqi OS running on your robot.
For further information, you can go here or build the doc:
cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/